version: 66.06
glider: 143
mission: 10
dive: 354
start: 12 21 109 18 9 1
data:
$ID,143
$MISSION,10
$DIVE,354
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-42544.953
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,175924,6709.483,-5723.938,23,1.2,40,-37.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.1
$GPS2,180843,6709.535,-5723.977,9,0.9,14,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,152.8,28661,-16.9,-9.167
$D_GRID,716
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.97,0.000,2,0.000,0.000,130,2455,3091,0,0,0,0,0,0
$GC,115,-0.73,-146.0,3.2,-4.8,19,142,11.40,2.17,-8.80,0.000,4,0.295,0.102,2446,853,3398,0,0,0,0,0,0
$GC,323,-0.73,-146.0,29.9,-11.1,56,329,0.00,2.10,0.00,0.000,6,0.000,0.073,2446,2458,3400,0,0,0,0,0,0
$GC,666,-0.73,-146.0,63.4,-9.9,117,672,0.00,2.15,0.00,0.000,4,0.000,0.091,2446,861,3400,0,0,0,0,0,0
$GC,925,-0.73,-146.0,91.2,-10.8,163,931,0.00,2.10,0.00,0.000,6,0.000,0.074,2446,2466,3400,0,0,0,0,0,0
$GC,1260,-0.73,-146.0,123.6,-8.9,202,1264,0.00,2.17,0.00,0.000,4,0.000,0.092,2446,850,3400,0,0,0,0,0,0
$GC,1517,-0.73,-146.0,146.6,-8.9,224,1523,0.00,2.12,0.00,0.000,6,0.000,0.073,2446,2455,3399,0,0,0,0,0,0
$GC,1843,-0.81,-146.0,172.5,-8.5,255,1848,0.00,3.50,0.00,0.000,4,0.000,0.091,2446,3927,3398,0,0,4,0,0,0
$GC,2044,-0.90,-146.0,189.8,-7.9,272,2051,0.15,3.35,0.00,0.000,6,0.120,0.067,2397,2458,3398,0,0,3,0,0,0
$GC,2369,-0.83,-146.0,222.7,-11.0,303,2374,0.00,3.50,0.00,0.000,4,0.000,0.087,2397,3927,3398,0,0,4,0,0,0
$GC,2627,-0.75,-146.0,248.6,-9.9,325,2633,0.20,3.33,0.00,0.000,6,0.201,0.065,2443,2460,3399,0,0,3,0,0,0
$GC,2952,-0.83,-146.0,272.2,-7.0,356,2957,0.00,3.45,0.00,0.000,4,0.000,0.086,2443,3921,3400,0,0,4,0,0,0
$GC,3187,-0.91,-146.0,289.3,-7.8,376,3194,0.15,3.33,0.00,0.000,6,0.117,0.065,2393,2455,3400,0,0,3,0,0,0
$GC,3512,-0.82,-146.0,320.9,-9.8,407,3518,0.12,3.50,0.00,0.000,4,0.199,0.085,2414,3924,3400,0,0,3,0,0,0
$GC,3760,-0.82,-146.0,343.4,-8.7,428,3765,0.00,3.33,0.00,0.000,6,0.000,0.065,2415,2455,3400,0,0,3,0,0,0
$GC,4084,-0.82,-146.0,372.0,-8.8,459,4089,0.00,3.47,0.00,0.000,4,0.000,0.087,2414,3926,3400,0,0,4,0,0,0
$GC,4341,-0.82,-146.0,396.2,-9.1,481,4347,0.00,3.35,0.00,0.000,6,0.000,0.066,2414,2454,3400,0,0,3,0,0,0
$GC,4667,-0.82,-146.0,426.1,-9.0,512,4672,0.00,3.47,0.00,0.000,4,0.000,0.087,2414,3921,3400,0,0,5,0,0,0
$GC,4677,-0.82,-146.0,427.1,-9.2,512,4683,0.00,3.33,0.00,0.000,6,0.000,0.065,2414,2456,3400,0,0,4,0,0,0
$GC,5002,-0.82,-146.0,456.8,-9.3,543,5005,0.00,2.12,0.00,0.000,4,0.000,0.088,2415,848,3400,0,0,0,0,0,0
$GC,5187,-0.82,-146.0,474.6,-9.3,559,5190,0.00,2.08,0.00,0.000,6,0.000,0.070,2414,2461,3400,0,0,0,0,0,0
$GC,5516,-0.82,-146.0,501.6,-8.0,590,5522,0.00,3.47,0.00,0.000,4,0.000,0.087,2414,3927,3400,0,0,4,0,0,0
$GC,5774,-0.82,-146.0,523.5,-8.3,612,5780,0.00,3.35,0.00,0.000,6,0.000,0.067,2414,2461,3400,0,0,4,0,0,0
$GC,6099,-0.82,-146.0,549.1,-7.9,643,6104,0.00,3.47,0.00,0.000,4,0.000,0.087,2414,3919,3400,0,0,4,0,0,0
$GC,6357,-0.82,-146.0,569.8,-8.3,665,6363,0.00,3.35,0.00,0.000,6,0.000,0.067,2414,2455,3400,0,0,3,0,0,0
$GC,6681,-0.82,-146.0,595.7,-8.2,696,6685,0.00,2.12,0.00,0.000,4,0.000,0.088,2414,855,3400,0,0,0,0,0,0
$GC,6939,-0.82,-146.0,618.8,-9.0,707,6943,0.00,2.10,0.00,0.000,6,0.000,0.071,2414,2454,3400,0,0,0,0,0,0
$GC,7257,-0.82,-146.0,645.6,-8.5,718,7263,0.00,3.47,0.00,0.000,4,0.000,0.088,2414,3919,3400,0,0,5,0,0,0
$GC,7403,-0.82,-146.0,658.3,-9.1,722,7408,0.00,3.35,0.00,0.000,6,0.000,0.066,2414,2458,3400,0,0,3,0,0,0
$GC,7721,-0.82,-146.0,683.9,-7.8,733,7727,0.00,3.53,0.00,0.000,4,0.000,0.087,2414,3928,3400,0,0,4,0,0,0
$GC,7979,-0.82,-146.0,704.8,-8.7,740,7985,0.00,3.35,0.00,0.000,6,0.000,0.067,2414,2459,3400,0,0,4,0,0,0
$STATE,8105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8105,begin apogee
$GC,8112,-0.16,0.0,716.2,9.0,745,8241,0.82,0.00,125.47,1.213,6,0.183,0.000,2635,1946,2800,0,0,0,0,0,0
$STATE,8242,end apogee,CONTROL_FINISHED_OK
$STATE,8242,begin climb
$GC,8243,0.73,146.0,718.2,0.0,749,8384,0.95,2.20,130.93,1.152,4,0.128,0.092,2923,355,2203,0,0,0,0,0,0
$GC,8423,0.62,146.0,702.1,11.7,754,8429,0.10,2.03,0.00,0.000,6,0.189,0.061,2891,1965,2198,0,0,0,0,0,0
$GC,8735,0.62,146.0,670.4,10.3,765,8743,0.00,3.67,0.00,0.000,4,0.000,0.080,2890,3542,2195,0,0,7,0,0,0
$GC,8874,0.55,146.0,654.2,11.5,769,8883,0.15,3.75,0.00,0.000,6,0.206,0.074,2873,1942,2194,0,0,2,0,0,0
$GC,9209,0.62,146.7,623.3,9.1,780,9215,0.00,3.67,0.00,0.000,4,0.000,0.080,2873,3541,2194,0,0,5,0,0,0
$GC,9338,0.62,146.7,609.9,9.8,784,9344,0.00,3.70,0.00,0.000,6,0.000,0.074,2887,1948,2192,0,0,2,0,0,0
$GC,9660,0.67,146.7,579.6,9.3,807,9666,0.00,3.62,0.00,0.000,4,0.000,0.081,2887,3535,2192,0,0,6,0,0,0
$GC,9806,0.67,146.7,564.6,10.4,819,9812,0.00,3.65,0.00,0.000,6,0.000,0.074,2903,1937,2192,0,0,4,0,0,0
$GC,10130,0.67,146.7,533.7,9.5,850,10136,0.00,3.65,0.00,0.000,4,0.000,0.081,2903,3536,2192,0,0,6,0,0,0
$GC,10265,0.58,146.7,519.2,11.4,861,10272,0.17,3.67,0.00,0.000,6,0.206,0.074,2881,1938,2192,0,0,3,0,0,0
$GC,10590,0.66,153.1,490.7,8.9,892,10604,0.00,3.65,5.57,0.850,4,0.000,0.080,2881,3537,2175,0,0,5,0,0,0
$GC,10745,0.66,153.1,475.2,10.7,906,10750,0.00,3.67,0.00,0.000,6,0.000,0.074,2894,1937,2174,0,0,3,0,0,0
$GC,11069,0.66,153.1,445.2,9.3,936,11074,0.00,3.67,0.00,0.000,4,0.000,0.081,2894,3536,2174,0,0,5,0,0,0
$GC,11222,0.66,153.1,429.3,11.4,949,11228,0.00,3.70,0.00,0.000,6,0.000,0.074,2911,1937,2174,0,0,2,0,0,0
$GC,11546,0.66,153.1,396.3,10.6,979,11552,0.00,3.67,0.00,0.000,4,0.000,0.081,2910,3535,2173,0,0,5,0,0,0
$GC,11688,0.58,153.1,379.7,11.5,991,11698,0.20,3.65,0.00,0.000,6,0.204,0.075,2881,1948,2173,0,0,4,0,0,0
$GC,12017,0.66,153.1,349.2,9.4,1022,12022,0.00,3.70,0.00,0.000,4,0.000,0.080,2881,3539,2173,0,0,4,0,0,0
$GC,12152,0.66,153.1,335.3,10.3,1033,12157,0.00,3.67,0.00,0.000,6,0.000,0.075,2895,1938,2173,0,0,4,0,0,0
$GC,12476,0.72,153.1,304.2,9.7,1064,12482,0.00,3.67,0.00,0.000,4,0.000,0.081,2895,3535,2173,0,0,5,0,0,0
$GC,12644,0.72,153.1,286.0,10.6,1078,12650,0.00,3.65,0.00,0.000,6,0.000,0.075,2911,1948,2173,0,0,4,0,0,0
$GC,12968,0.72,153.1,252.4,10.2,1109,12974,0.00,3.65,0.00,0.000,4,0.000,0.081,2911,3535,2173,0,0,6,0,0,0
$GC,13111,0.63,153.1,235.8,11.6,1121,13121,0.15,3.65,0.00,0.000,6,0.207,0.075,2896,1951,2173,0,0,4,0,0,0
$GC,13439,0.69,153.1,203.7,9.7,1152,13445,0.00,3.65,0.00,0.000,4,0.000,0.081,2895,3535,2173,0,0,6,0,0,0
$GC,13551,0.69,153.1,191.6,10.5,1161,13557,0.00,3.67,0.00,0.000,6,0.000,0.074,2909,1936,2172,0,0,4,0,0,0
$GC,13876,0.69,153.1,159.0,10.0,1192,13882,0.00,3.70,0.00,0.000,4,0.000,0.081,2909,3535,2171,0,0,4,0,0,0
$GC,14078,0.63,153.1,135.1,11.8,1209,14084,0.12,3.67,0.00,0.000,6,0.207,0.074,2899,1944,2171,0,0,3,0,0,0
$GC,14403,0.77,183.9,105.5,7.9,1240,14438,0.12,3.70,26.23,0.806,4,0.129,0.079,2940,3535,2048,0,0,4,0,0,0
$GC,14557,0.68,183.9,89.0,11.3,1262,14564,0.20,3.70,0.00,0.000,6,0.203,0.073,2912,1945,2046,0,0,2,0,0,0
$GC,14903,0.83,211.5,58.4,8.0,1323,14936,0.15,3.72,24.05,0.769,4,0.119,0.079,2962,3535,1935,0,0,3,0,0,0
$GC,15088,0.73,211.5,37.5,11.6,1356,15095,0.20,3.67,0.00,0.000,6,0.198,0.073,2932,1949,1932,0,0,4,0,0,0
$FREEZE,8.71,-0.405,-1.831,0,1,0
$FREEZE,8.30,-0.434,-1.831,0,1,0
$FREEZE,7.73,-0.428,-1.830,0,1,0
$FREEZE,7.20,-0.454,-1.830,0,1,0
$FREEZE,6.75,-0.469,-1.830,0,1,0
$FREEZE,6.25,-0.493,-1.829,0,1,0
$FREEZE,5.77,-0.528,-1.829,0,1,0
$FREEZE,5.08,-0.608,-1.828,0,1,0
$FREEZE,4.60,-0.717,-1.828,0,1,0
$GC,15434,0.83,220.2,5.8,8.8,1417,15451,0.00,3.72,7.88,0.696,4,0.000,0.079,2932,3535,1901,0,0,4,0,0,0
$FREEZE,3.54,-1.315,-1.828,0,1,0
$FREEZE,2.94,-1.611,-1.828,0,1,0
$FREEZE,2.38,-1.639,-1.825,0,1,0
$FREEZE,1.77,-1.635,-1.822,0,1,0
$STATE,15473,end climb,SURFACE_DEPTH_REACHED
$STATE,15473,begin surface coast
$FREEZE,1.29,-1.631,-1.821,0,1,0
$FREEZE,0.72,-1.638,-1.819,0,1,0
$FREEZE,0.51,-1.692,-0.961,0,1,0
$FREEZE,0.55,-1.452,-1.164,0,1,0
$FINISH,0.6,1.017193
$STATE,15496,end surface coast,CONTROL_FINISHED_OK
$STATE,15496,begin surface
$SM_CCo,15516,66.55,0.738,0,0,1474,325.02
$SM_GC,1.44,0.00,0.00,66.55,0.000,0.000,0.738,129,2464,1474,-8.00,0.11,325.02
$RAFOS_CLK,1006
$RAFOS,6,1261428546,20.833334,20.818333,83,63,59,0,0,0,733,215,157,0,0,0
$RAFOS,5,1261428085,20.700001,20.690277,115,62,61,0,0,0,494,189,222,0,0,0
$RAFOS,4,1261427582,20.566668,20.550556,80,66,63,0,0,0,824,206,157,0,0,0
$RAFOS,3,1261427107,20.433332,20.418612,67,58,56,0,0,0,221,190,177,0,0,0
$RAFOS,2,1261426629,20.299999,20.285833,57,57,56,0,0,0,126,199,143,0,0,0
$RAFOS,1,1261426165,20.166666,20.156944,69,59,56,0,0,0,197,163,218,0,0,0
$RAFOS,0,1261425665,20.033333,20.018055,64,57,57,0,0,0,214,197,183,0,0,0
$RAFOS_FIX,6708.916504,-5728.580078,211209,202044,3,93,0.38
$IRIDIUM_FIX,6641.98,-5716.88,170399,181818
$TT8_MAMPS,0.026845
$HUMID,47.40
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,650.4,81.1
$24V_AH,22.1,65.684
$10V_AH,10.1,34.985
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.600,204.075,320.125,66.550,0.000,55.333,74.383,221.495,3.500,0.000,16.021,2493.176,9604.376,593.768,2830.165,617.770,0.000,2005.314,0.000,2769.935,2520.000,19.626,0.000
$DEVICE_MAMPS,295.295,102.011,1212.627,737.854,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.258,1001.351,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152512
$DATA_FILE_SIZE,56701,1428
$CAP_FILE_SIZE,177402,0
$CFSIZE,260165632,222416896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,197,0,0
$SOUNDSPEED,1461.5
$GPS,211209,223024,6709.610,-5722.928,24,0.9,42,-37.8